Publications associées à In a demanding task, three-handed manipulation is preferred to two-handed manipulation

Accurate and agile flight with winged drones

Drones hold promise to assist in civilian tasks. To realize this application, future drones must operate within large cities, covering large distances while navigating within cluttered urban landscapes. The increased efficiency of winged drones over rotary ...

EPFL2024

Reinforcement learning approach to control an inverted pendulum: A general framework for educational purposes

Jesus Sanchez Rodriguez

Machine learning is often cited as a new paradigm in control theory, but is also often viewed as empirical and less intuitive for students than classical model-based methods. This is particularly the case for reinforcement learning, an approach that does n ...

PUBLIC LIBRARY SCIENCE2023

Adaptive Fingers Coordination for Robust Grasp and In-Hand Manipulation Under Disturbances and Unknown Dynamics

Aude Billard, Farshad Khadivar

We present a control framework for achieving a robust object grasp and manipulation in hand. In-hand manipulation remains a demanding task as the object is never stable and task success relies on carefully synchronizing the fingers' dynamics. Indeed, finge ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

Dynamic Modeling of an Origami Prismatic Joint

Jamie Paik, Jian-Lin Huang, Mustafa Mete

Dynamic modeling of folding joints is critical for predicting dynamic behavior, optimizing design parameters, and developing control strategies for origami robots and machines. Although kinematics of the folded joints exists, little research describes thei ...

IEEE2023

Self-Exciting Point Processes: Identification and Control

Michael Mark

This thesis addresses theoretical and practical aspects of identification and subsequent control of self-exciting point processes. The main contributions correspond to four separate scientific papers. In the first paper, we address the challenge of robust ...

EPFL2022

Adaptive Task-Space Force Control for Humanoid-to-Human Assistance

Anastasia Bolotnikova

We envision a humanoid robot to serve as a source of additional motion-support forces in assistance for frail persons. In this context, we present a control strategy for a humanoid to adaptively regulate its assistive force contribution. First, we identify ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

Dynamic control strategies for managing pedestrian flows

Nicholas Alan Molyneaux

Pedestrians, like drivers, generally dislike congestion. This is true for most pedestrian environments: trains stations, airports, or shopping malls. Furthermore, pedestrian congestion also influences the attractiveness of public transportation networks. T ...

EPFL2021

Foot Control of a Surgical Laparoscopic Gripper via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control

Mohamed Bouri, Aude Billard, Walid Amanhoud, Jacob Hernandez Sanchez

Foot devices have been ubiquitously used in surgery to control surgical equipment. Most common applications are foot switches for electro-surgery, endoscope positioning and tele-robotic consoles. Switches fall short of providing continuous control as requi ...

2021

Improving frequency containment reserve provision in run-of-river hydropower plants

Sidi-Rachid Cherkaoui, Mario Paolone, Elena Vagnoni, Francesco Gerini

The paper presents a model-based control strategy for optimal asset management of hydroelectric units in run-of-river hydropower plants. The proposed control strategy aims to operate the unit at the best efficiency while improving water flow management and ...

2021

Buffered Coordination Modulation as a Means of Controlling Crystal Morphology and Molecular Diffusion in an Anisotropic Metal-Organic Framework

Berend Smit, Sudabeh Jawahery

Significant advances have been made in the synthesis of chemically selective environments within metal-organic frameworks, yet materials development and industrial implementation have been hindered by the inability to predictively control crystallite size ...

AMER CHEMICAL SOC2021

Adapting Virtual Embodiment through Reinforcement Learning

Ronan Boulic, Bruno Herbelin, Olaf Blanke, Thibault Serge Mario Porssut, Yawen Hou

In Virtual Reality, having a virtual body opens a wide range of possibilities as the participant's avatar can appear to be quite different from oneself for the sake of the targeted application (e.g. for perspective-taking). In addition, the system can part ...

2021

On Topological Equivalence in Linear Quadratic Optimal Control

Daniel Kuhn, Wouter Jongeneel

Dynamical systems are topologically equivalent when their orbits can be mapped onto each other via a homeomorphic change of coordinates. We will show that in general, closed-loop systems resulting from Linear Quadratic Optimal Control problems are all topo ...

2021

Control Strategy for the Discharge Phase of an Ultra-High Voltage (>7kV) Bi-Directional Flyback Converter Driving Capacitive Actuators

Yves Perriard, Alexis Boegli, Raphaël Johannes Charles Mottet

Dielectric Elastomer Actuators (DEAs) require ultra high voltages in the order of several kilo volts to operate. To supply such voltages, a DC-DC flyback converter topology was selected. One of the main advantage of using such a structure is the possibilit ...

IEEE2020

Security-aware Routing and Scheduling for Control Applications on Ethernet TSN Networks

Amir Aminifar

Today, it is common knowledge in the cyber-physical systems domain that the tight interaction between the cyber and physical elements provides the possibility of substantially improving the performance of these systems that is otherwise impossible. On the ...

ASSOC COMPUTING MACHINERY2020

From human action understanding to robot action execution: how the physical properties of handled objects modulate non-verbal cues

Aude Billard, José Santos-Victor, Konstantinos Chatzilygeroudis, Nuno Ricardo Ferreira Duarte

Humans manage to communicate action intentions in a non-verbal way, through body posture and movement. We start from this observation to investigate how a robot can decode a human's non-verbal cues during the manipulation of an object, with specific physic ...

IEEE2020

Force and Shape Control Strategies for Minimum Energy Adaptive Structures

Arka Prabhata Reksowardojo, Gennaro Senatore

This work presents force and shape control strategies for adaptive structures subjected to quasi-static loading. The adaptive structures are designed using an integrated structure-control optimization method developed in previous work, which produces minim ...

2020

Control Strategies for Lower-limb Exoskeletons: from Full Mobilization to Assistance of Balance

Romain Pierre François Baud

Bipedal locomotion is a remarkable feature of humans. This skill is necessary for the activities of daily living. Unfortunately, many people only partially benefit from it or miss it entirely because of a disability. This may result in a slower gait, less ...

EPFL2020

Reconciling Being in-Control vs. Being Helped for the Execution of Complex Movements in VR

Ronan Boulic, Bruno Herbelin, Thibault Serge Mario Porssut

Performing motor tasks in virtual environments is best achieved with motion capture and animation of a 3D character that participants control in real time and perceive as being their avatar in the virtual environment. A strong Sense of Embodiment (SoE) for ...

IEEE2019

Design of Magnetic Bearing Control System Based on Active Disturbance Rejection Theory

Yuanping Xu

At present, most of the magnetic bearing system adopts the classical proportional-integral-derivative (PID) control strategy. However, the external disturbances, system parameter perturbations, and many other uncertain disturbances result in PID controller ...

2019

Design and Validation of a Modular One-To-Many Actuator for a Soft Wearable Exosuit

Silvestro Micera, Michele Xiloyannis

The size, weight, and power consumption of soft wearable robots rapidly scale with their number of active degrees of freedom. While various underactuation strategies have been proposed, most of them impose hard constrains on the kinetics and kinematics of ...

2019